Omni-directional rehabilitation platform of detachable lower extremity exoskeleton and training method

Abstract

The omnidirectional rehabilitation platform of the separable lower limb exoskeleton of the application is characterized in that: a top rotating mechanism (3) is installed on the top support part of a main body carrier (1), and a sling assembly (4) is suspended and connected to the top rotating mechanism (3); an omnidirectional walking mechanism (9) is installed on the bottom support part of the main body carrier (1) and is located below the sling assembly (4); a ring-shaped waist support mechanism (6) is arranged above the omnidirectional walking mechanism (9) and is located in the middle part of the main body carrier (1); a follow-up connecting seat (5) is installed on the ring-shaped waist support mechanism (6), and the follow-up connecting seat (5) and the ring-shaped waist support mechanism (6) are movably connected in the circumferential direction; a virtual reality display device (2) is a head-mounted display structure and is in communication connection with a control device (10). The application has the advantages that targeted and personalized training can be carried out, and the rehabilitation effect is good.

Description

Technical Field

[0001] This invention relates to the field of intelligent rehabilitation robots, specifically to an omnidirectional rehabilitation platform and training method with a detachable lower limb exoskeleton. Background Technology

[0002] Lower limb rehabilitation training is an important way to help people with lower limb motor dysfunction regain their ability to stand, walk, turn, and balance. Existing lower limb rehabilitation training equipment mainly includes weight-reduced gait training frames, fixed treadmills, standing training frames, lower limb rehabilitation robots, wearable lower limb exoskeletons, and virtual reality rehabilitation training devices, which can respectively achieve weight-reduction protection, gait training, lower limb assistance, and scene guidance. In existing technologies, lower limb exoskeletons are mostly used as independent wearable devices or as local auxiliary structures in fixed rehabilitation equipment. They lack easy assembly and disassembly methods with the rehabilitation training platform, making it difficult to simultaneously meet the needs of platform protection training and independent exoskeleton use. While virtual reality training can provide scene guidance, without the coordination of suspension weight reduction, omnidirectional walking support, lumbar follow-up support, hand follow-up support, and detachable exoskeleton structures, it is still difficult to achieve safe, continuous, and near-realistic lower limb rehabilitation training. On the other hand, existing virtual reality rehabilitation training largely remains at the level of scene display or task prompts. Training content typically focuses on straight walking, stepping, or simple obstacle avoidance, lacking targeted training methods that cater to individual user differences, the condition of the affected lower limb, turning ability, weight transfer ability, and gait stability. For lower limb rehabilitation training, relying solely on repetitive straight walking is insufficient to meet patients' needs for restoring turning, obstacle avoidance, lateral movement, and weight transfer abilities in daily life. In short, existing rehabilitation platforms lack targeted, personalized training, resulting in poor rehabilitation outcomes. Summary of the Invention

[0003] To overcome the above-mentioned shortcomings, this invention proposes an omnidirectional rehabilitation platform and training method with a separable lower limb exoskeleton that enables targeted and personalized training and has good rehabilitation effects.

[0004] The present invention provides an omnidirectional rehabilitation platform with a separable lower limb exoskeleton, characterized in that it includes a main support frame, a virtual reality display device, a top rotation mechanism, a sling assembly, a follower connecting seat, a ring-shaped waist support mechanism, a follower-type balance handrail mechanism, a separable lower limb exoskeleton, an omnidirectional walking mechanism, and a control device. The main support frame encloses the training space; The top rotating mechanism is installed on the top support of the main support frame, and the sling assembly is suspended and connected to the top rotating mechanism; The omnidirectional walking mechanism is installed on the bottom support of the main support frame and is located below the sling assembly; The annular waist support mechanism is located above the omnidirectional walking mechanism and in the middle of the main support frame; The follower connector is mounted on the annular waist support mechanism, and the follower connector and the annular waist support mechanism form a circumferential movable fit; The lumbar contact support of the separable lower limb exoskeleton is detachably connected to the follower connecting seat through a lumbar connection structure. The follow-up balance handrail mechanism is installed on the inner side of the annular waist support mechanism; The virtual reality display device is a head-mounted display structure and is communicatively connected to the control device; The control device is electrically or communicatively connected to the virtual reality display device, the detachable lower limb exoskeleton, and the omnidirectional walking mechanism, respectively.

[0005] The aforementioned omnidirectional rehabilitation platform with a separable lower limb exoskeleton includes a top rotation mechanism comprising a fixed base and a rotating connector. The fixed base is installed on the top support of the main support frame, the rotating connector is connected to the fixed base, and the upper end of the sling assembly is connected to the rotating connector. The rotating connector and the sling assembly together form a suspension structure that can rotate around a vertical axis.

[0006] The above-mentioned omnidirectional rehabilitation platform with separable lower limb exoskeleton includes a sling assembly comprising a suspension connecting strap, a length adjustment component, and a trunk support strap. The upper end of the suspension connecting strap is connected to the top rotating mechanism, and the lower end of the suspension connecting strap is connected to the trunk support strap. The length adjustment component is disposed on the suspension connecting strap or the trunk support strap.

[0007] The aforementioned omnidirectional rehabilitation platform with a separable lower limb exoskeleton includes an annular lumbar support mechanism comprising an opening and closing support ring segment, an annular support main body ring segment, and an opening and closing hinge. The opening and closing connector is located at the break between the opening and closing support ring segment and the annular support main body ring segment, and the follower connector is installed on the inner side of the annular support main body ring segment.

[0008] The aforementioned omnidirectional rehabilitation platform for the separable lower limb exoskeleton includes a follower connector that connects to the waist contact support of the separable lower limb exoskeleton via a waist connection structure, forming a plug-in, snap-fit, locking, or pin connection.

[0009] The aforementioned omnidirectional rehabilitation platform with a separable lower limb exoskeleton includes a follow-up balance handrail mechanism comprising a handrail body and a fixed handle. The handrail body and the fixed handle are fixed to the inner side of the annular waist support mechanism, and the fixed handle is located on both sides of the handrail body.

[0010] The aforementioned omnidirectional rehabilitation platform with a separable lower limb exoskeleton includes an omnidirectional rolling component in the middle of the omnidirectional walking mechanism, which consists of multiple Mecanum wheels or omnidirectional wheels arranged in an array.

[0011] A training method for an omnidirectional rehabilitation platform for a separable lower limb exoskeleton as described in any one of claims 1 to 7, comprising the following steps: S1. Establish user training files and enter user identity information, affected side information, training stage information and rehabilitation training goals; S2. Read the historical training data in the user's training file. The historical training data includes historical benchmark verification data, historical training sensitivity data, historical training scenario data, historical affected side reinforcement training data, and historical training result data. S3. Determine whether the user needs to perform benchmark verification or training sensitivity calibration based on the historical training data. S4. When benchmark verification is required, a benchmark virtual path is presented through a virtual reality display device. The benchmark virtual path includes a straight path, a left-turn path, a right-turn path, an arc path, and a lateral offset path. The user's direction perception results, steering adaptation results, and path comfort feedback on the benchmark virtual path are collected to form individual perception benchmark data. S5. When it is necessary to calibrate the training sensitivity, based on the individual perception baseline data, change the visual deflection angle, path curvature, lateral offset, target point position or obstacle position of the virtual path, collect the user's adaptation results to the path changes, and form training sensitivity data. S6. Based on the user's training profile, historical training data, individual perception baseline data, training sensitivity data, and rehabilitation training goals, generate the training parameters for this session. The training parameters for this session include virtual path type, visual deflection angle, path curvature, lateral offset, target point position, obstacle position, training duration, and training difficulty level. S7. The user wears a virtual reality display device and a detachable lower limb exoskeleton. The sling assembly is connected to the user's torso, and the detachable lower limb exoskeleton is connected to the follower connector, so that the user is located in the ring waist support mechanism and stands on the omnidirectional walking mechanism. S8. The control device controls the virtual reality display device to present a virtual training scene according to the training parameters, and controls the omnidirectional walking mechanism and the separable lower limb exoskeleton to cooperate with the user to complete the platform combination training. S9. Record the virtual path type, visual deflection angle, path curvature, lateral offset, training duration, affected side reinforcement content, completion status, and training evaluation results for this training, and write the recorded results into the user's training file.

[0012] The above training method includes step S8, which includes a strengthening training step for the affected side and an exoskeleton removal training step. The affected side reinforcement training steps include: based on the affected side information in step S1, setting a turning path towards the affected side, an arc-shaped path bending towards the affected side, a lateral offset path towards the affected side, a target point or obstacle avoidance task located in the direction of the affected side in the virtual training scene, so that the user can perform support, swing, turning or center of gravity transfer actions corresponding to the affected side when completing the virtual training task. The exoskeleton disassembly training steps include: after the platform assembly training is completed, disconnecting the detachable lower limb exoskeleton from the follower connector, allowing the user to wear the detachable lower limb exoskeleton and leave the omnidirectional rehabilitation platform for independent training.

[0013] Compared with the prior art, the present invention has significant advantages. As can be seen from the above solutions, the present invention has the following advantages: 1. This invention integrates the top rotating mechanism, sling assembly, ring waist support mechanism, follow-up balance handrail mechanism, detachable lower limb exoskeleton and omnidirectional walking mechanism into the same rehabilitation platform through the main support frame, which can improve the overall safety and structural coordination in the lower limb rehabilitation training process.

[0014] 2. The top rotating mechanism of the present invention can rotate synchronously with the user's turning action, which reduces the problems of twisting, tangling and lateral pulling of the sling assembly during turning training, and improves the user's comfort and naturalness in turning, lateral movement and diagonal walking training.

[0015] 3. The ring-shaped waist support mechanism of the present invention can form a protective and supportive enclosure for the user's waist area, and the opening area facilitates the user's entry or exit from the training space, thereby improving the safety and ease of use during the training process.

[0016] 4. This invention achieves the connection between the separable lower limb exoskeleton and the ring-shaped waist support mechanism through a follow-up connecting seat, enabling the lower limb exoskeleton to switch between platform combined training state and independent use state, thereby improving the applicability and flexibility of the equipment.

[0017] 5. The present invention provides a follow-up balance handrail mechanism inside the ring waist support mechanism, so that the user can obtain continuous hand support when turning, shifting to the side or transferring the center of gravity, avoiding the problem of interruption of support of the fixed handrail during turning training.

[0018] 6. By using user information input, historical parameter reading, benchmark verification, training sensitivity calibration, rehabilitation training scenario selection, and training parameter generation, this invention enables the training process to be set according to the training foundation and rehabilitation goals of different users, thereby improving the individual adaptability of the training method.

[0019] 7. This invention enhances the targeted nature of lower limb rehabilitation training by strengthening the training on the affected side. When the user completes a virtual path task, the target lower limb is involved in support, swinging, turning or weight-bearing.

[0020] 8. This invention enables the transition between platform combination training and exoskeleton independent training. When users can first conduct safe training under conditions of suspension weight reduction, lumbar support, hand support and omnidirectional walking support, they can gradually transition to the independent use of the detachable lower limb exoskeleton, which is conducive to forming a phased and progressive lower limb rehabilitation training path.

[0021] The following specific embodiments further illustrate the beneficial effects of the present invention. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure in an embodiment of the present invention; Figure 3 for Figure 2 Rear view; Figure 4 for Figure 2 A schematic diagram of the top rotating mechanism and the detachable lower limb exoskeleton; Figure 5 This is a top view of the embodiment of the present invention with the main support frame removed; Figure 6 This is a schematic flowchart of the method of the present invention.

[0023] The diagram shows: 1. Main support frame; 2. Virtual reality display device; 3. Top rotation mechanism; 4. Suspension assembly; 5. Follower connector; 6. Circular waist support mechanism; 7. Follower-type balance handrail mechanism; 8. Separable lower limb exoskeleton; 9. Omnidirectional walking mechanism; 10. Control device; 11. Fixed seat; 12. Rotary connector; 13. Suspension connecting belt; 14. Length adjustment component; 15. Torso support belt; 16. Waist connection structure; 17. Opening and closing support ring segment; 18. Circular support main ring segment; 19. Waist contact support component; 20. Fixed handle; 21. Handrail main body; 22. Opening and closing hinge; 23. Omnidirectional rolling assembly. Detailed Implementation

[0024] The following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, features, and effects of an omnidirectional rehabilitation platform and training method for a separable lower limb exoskeleton proposed according to the present invention.

[0025] like Figures 1-5As shown, the present invention provides an omnidirectional rehabilitation platform with a separable lower limb exoskeleton. The omnidirectional rehabilitation platform includes a main support frame 1, a virtual reality display device 2, a top rotation mechanism 3, a sling assembly 4, a follower connecting seat 5, a ring-shaped waist support mechanism 6, a follower-type balance handrail mechanism 7, a separable lower limb exoskeleton 8, an omnidirectional walking mechanism 9, and a control device 10.

[0026] The main support frame 1 forms the overall support structure of the rehabilitation platform and provides installation, support, and housing space for the top rotating mechanism 3, the sling assembly 4, the ring-shaped waist support mechanism 6, the follower connecting seat 5, the follower-type balance handrail mechanism 7, the detachable lower limb exoskeleton 8, and the omnidirectional walking mechanism 9. The main support frame 1 encloses and forms a training space for users to perform lower limb rehabilitation training. Users can complete training movements such as standing, walking, turning, lateral movement, diagonal walking, and weight transfer within this training space.

[0027] The main support frame 1 can be a frame structure formed by combining metal profiles, pipe beams, or plate beams. The main support frame 1 includes a top support section, a middle support section, and a bottom support section. The top support section is used to install the top rotating mechanism 3, the bottom support section is used to install the omnidirectional walking mechanism 9, and the middle support section is used to install or support the ring-shaped waist support mechanism 6. Through this arrangement, the top suspension protection, waist wrap-around support, and foot omnidirectional walking support can form a corresponding relationship in the vertical direction, allowing the user to maintain a relatively stable training posture.

[0028] The virtual reality display device 2 is worn by the user to present different rehabilitation training environments. The virtual reality display device 2 is preferably a head-mounted display structure and is communicatively connected to the control device 10. Users can view virtual training scenarios such as straight walking, turning, circling, lateral deviation, obstacle avoidance, going up and down slopes, indoor walking, or outdoor road walking through the virtual reality display device 2, thereby performing lower limb rehabilitation training under visual guidance. The virtual training scenarios presented by the virtual reality display device 2 can be coordinated with the training control of the omnidirectional walking mechanism 9 and the detachable lower limb exoskeleton 8, allowing users to obtain a training experience close to their daily walking environment within a limited platform space.

[0029] A top rotating mechanism 3 is disposed in the top region of the main support frame 1 and connected to the sling assembly 4. The top rotating mechanism 3 includes a fixed base 11 and a rotating connector 12. The fixed base 11 is mounted on the top support of the main support frame 1, and the rotating connector 12 is connected to the fixed base 11. The rotating connector 12 is rotatable relative to the fixed base 11 about a vertical axis, and the upper end of the sling assembly 4 is connected to the rotating connector 12. Thus, the rotating connector 12 and the sling assembly 4 together form a suspension structure that can rotate about a vertical axis.

[0030] When the user performs turning, lateral movement, or diagonal walking training, the top rotating mechanism 3 can rotate with the change of the user's body direction, so that the sling assembly 4 changes direction synchronously, thereby reducing the torsion, entanglement, or lateral pulling interference caused by the sling assembly 4 to the user's body rotation, and improving the user's comfort and safety in turning training and omnidirectional walking training.

[0031] The sling assembly 4 is used to fix or support the user's upper body and provide suspension weight reduction and fall prevention during rehabilitation training. The sling assembly 4 includes a suspension connecting strap 13, a length adjustment member 14, and a torso support strap 15. The upper end of the suspension connecting strap 13 is connected to the rotating connector 12 of the top rotating mechanism 3, and the lower end of the suspension connecting strap 13 is connected to the torso support strap 15. The torso support strap 15 is used to connect to the user's torso, and the length adjustment member 14 is disposed on the suspension connecting strap 13 or the torso support strap 15.

[0032] By adjusting the length adjustment component 14, the effective suspension length of the sling assembly 4 can be changed, making the sling assembly 4 suitable for users of different heights, body types, and rehabilitation stages. When users are performing standing, stepping, turning, or weight transfer training, the sling assembly 4 can share some of the body weight, reduce the load on the lower limbs, and provide fall protection when the user experiences instability.

[0033] The omnidirectional walking mechanism 9 is located under the user's feet and is mounted on the bottom support of the main support frame 1. The omnidirectional walking mechanism 9 provides omnidirectional walking support for the user, enabling the user to perform forward, backward, lateral, diagonal, and turning walking training within a limited space. An omnidirectional rolling assembly 23 is located in the middle of the omnidirectional walking mechanism 9; the omnidirectional rolling assembly 23 can be multiple Mecanum wheels or omnidirectional wheels arranged in an array.

[0034] Multiple Mecanum wheels or omnidirectional wheels together form a support walking area, enabling users to complete multi-directional gait training. The omnidirectional walking mechanism 9 is electrically or communicatively connected to the control device 10. The control device 10 can control the movement state of the omnidirectional walking mechanism 9 according to the virtual training scenario, training parameters, or user gait state, making the training movements within the platform richer and improving the closeness of the training process to the real walking environment.

[0035] The ring-shaped lumbar support mechanism 6 is located above the omnidirectional walking mechanism 9 and in the middle of the main support frame 1. The ring-shaped lumbar support mechanism 6 is positioned around the user's waist to protect, limit, and support the user's lumbar region. The ring-shaped lumbar support mechanism 6 has a wraparound structure and includes openings for the user to enter or leave the training space.

[0036] The annular lumbar support mechanism 6 includes an opening and closing support ring segment 17, an annular support main body ring segment 18, and an opening and closing hinge 22. The opening and closing hinge 22 is located at the break between the opening and closing support ring segment 17 and the annular support main body ring segment 18, allowing the opening and closing support ring segment 17 to open or close relative to the annular support main body ring segment 18. When the user enters the platform, the opening and closing support ring segment 17 opens to form an entry channel; after the user enters the training position, the opening and closing support ring segment 17 closes, causing the annular lumbar support mechanism 6 to form a support structure around the user's waist. During training, the annular lumbar support mechanism 6 can limit and support the user's waist, reducing excessive forward leaning, backward leaning, or lateral displacement of the body.

[0037] The follower connector 5 is disposed on the annular waist support mechanism 6, preferably on the inner side of the annular support main body ring segment 18. The annular support main body ring segment 18 has a guiding function, and the follower connector 5 and the annular support main body ring segment 18 form a circumferential movable fit, allowing the follower connector 5 to move circumferentially along the annular waist support mechanism 6. The follower connector 5 can be connected to the annular support main body ring segment 18 through a slider, roller, guide rail, guide groove, or annular sliding pair to achieve circumferential follower movement.

[0038] The detachable lower limb exoskeleton 8 has a lumbar contact support 19, which is detachably connected to the follower connector 5 via a lumbar connection structure 16. The lumbar connection structure 16 can be a plug-in structure, a snap-fit ​​structure, a locking connection structure, or a pin connection structure. When the user wears the detachable lower limb exoskeleton 8 for platform training, the lumbar connection position of the detachable lower limb exoskeleton 8 can move along the annular lumbar support mechanism 6 as the user turns, thereby supporting the user to perform circumferential rotation and multi-directional walking training within the platform and reducing torsional resistance at the lumbar connection.

[0039] The follow-up balance armrest mechanism 7 is located inside the annular waist support mechanism 6 and is used for users to hold onto to maintain body balance. The follow-up balance armrest mechanism 7 includes an armrest body 21 and fixed handles 20. The armrest body 21 and fixed handles 20 are installed inside the annular waist support mechanism 6, and the fixed handles 20 are located on both sides of the armrest body 21.

[0040] In one embodiment, the follow-up balance handrail mechanism 7 can be fixed to or linked with the follow-up connecting seat 5, allowing it to move along the annular waist support mechanism 6 as the user turns or changes in body position. This provides continuous hand support for the user during standing, walking, turning, lateral movement, or weight transfer, avoiding the support interruption problem that occurs with traditional fixed handrails during turning exercises. In another embodiment, the follow-up balance handrail mechanism 7 can also be fixed to the inner side of the annular waist support mechanism 6 to provide grip support for the user at specific locations.

[0041] The detachable lower limb exoskeleton 8 is worn on the user's lower limbs and connected to the body via fixation structures in the waist, thigh, calf, and foot. The detachable lower limb exoskeleton 8 assists the user in performing movements such as standing, flexion and extension, stepping, swinging, supporting, turning, and gait adjustment. The detachable lower limb exoskeleton 8 can be connected to the follower connector 5 and used in combination within a rehabilitation platform, or it can be detached from the follower connector 5 for independent use, thus accommodating both platform-based rehabilitation training and independent exoskeleton use.

[0042] The control device 10 is electrically or communicatively connected to the virtual reality display device 2, the detachable lower limb exoskeleton 8, and the omnidirectional walking mechanism 9. The control device 10 is used to create and read user training files, generate training parameters, control the virtual reality display device 2 to present virtual training scenes, and control the omnidirectional walking mechanism 9 and the detachable lower limb exoskeleton 8 to cooperate with the user to complete training. The control device 10 is also used to record training process data and training result data, and write the recorded results into the user training file.

[0043] like Figure 6 As shown, the present invention also provides a training method based on the aforementioned omnidirectional rehabilitation platform. This training method includes processes such as user information management, historical data retrieval, benchmark verification, training sensitivity calibration, rehabilitation training scenario selection, platform combination training, affected-side reinforcement training, and independent exoskeleton training integration.

[0044] Before training begins, the rehabilitation trainer inputs or selects the user's identity information on the control terminal, and the control device 10 creates or retrieves the training file corresponding to that user. The training file records or saves the user's identity information, affected side information, training stage information, and rehabilitation training goals. The control device 10 reads the historical training data corresponding to that user. Historical training data includes one or more of the following: the user's previous training records, historical benchmark verification data, individual perceptual benchmark data, historical training sensitivity data, training sensitivity calibration data, path adaptation status, turning adaptation status, training scenario usage, affected side reinforcement training records, and historical training result data.

[0045] After reading the user's identity information, the control device 10 determines whether the user has completed individual perceptual baseline verification and training sensitivity calibration. If the user has completed these tests, the control device 10 retrieves historical verification or calibration results and uses them as the basis for setting parameters for this rehabilitation training. If the user has not completed the individual perceptual baseline verification or training sensitivity calibration, the control device 10 enters the corresponding baseline verification module or training sensitivity calibration module.

[0046] Individual perception benchmark calibration is used to determine the user's initial adaptation range to the direction, turning range, and curvature of a virtual path. During benchmark calibration, the virtual reality display device 2 presents the user with benchmark virtual paths of different directions or curvatures. Benchmark virtual paths include straight paths, left-turn paths, right-turn paths, curved paths, and lateral deviation paths. The user completes observation, turning, or walking tasks based on the benchmark virtual path and provides feedback on path direction, curvature, turning difficulty, or path comfort. The control device 10 collects the user's feedback on the direction perception, turning adaptation, and path comfort of the benchmark virtual path, forming individual perception benchmark data, which is used as the basis for setting subsequent training parameters.

[0047] After benchmark verification is completed, the control device 10 can enter the training sensitivity calibration module. Training sensitivity calibration is used to determine the user's adaptation range to different training difficulty variations. Training difficulty variations include one or more of the following: virtual path length, visual deflection angle, turning amplitude, path curvature, lateral offset, target point position, obstacle position, number of obstacles, obstacle spacing, and task duration. Based on individual perceptual benchmark data, the control device 10 changes the virtual path or virtual task parameters, collects the user's adaptation results to the path or task changes, and forms training sensitivity data. Through training sensitivity calibration, it is possible to avoid user discomfort or movement instability due to excessively high training parameters, and also to avoid insufficient training stimulation due to excessively low training parameters.

[0048] After completing the benchmark verification and training sensitivity calibration, the control device 10 enters the rehabilitation training module. Rehabilitation trainers select virtual training scenarios and tasks based on the user's lower limb functional status and rehabilitation goals. Virtual training scenarios include one or more of the following: indoor walking scenarios, outdoor road scenarios, straight path scenarios, curved path scenarios, continuous turning scenarios, obstacle avoidance training scenarios, uphill and downhill training scenarios, or everyday walking scenarios.

[0049] The rehabilitation training module generates training parameters based on the user's training record, historical training data, individual perceptual baseline data, training sensitivity data, and rehabilitation training goals. These parameters include one or more of the following: virtual path type, path length, turning direction, visual deflection angle, turning amplitude, path curvature, lateral offset, lateral movement direction, oblique walking direction, target point location, obstacle location, number of obstacles, training duration, training difficulty level, and the target lower limb.

[0050] When a user enters rehabilitation training, the opening and closing support ring 17 of the annular lumbar support mechanism 6 is first opened, allowing the user to enter the training space enclosed by the main support frame 1. The user wears the detachable lower limb exoskeleton 8 and the virtual reality display device 2. The torso support strap 15 of the sling assembly 4 is connected to the user's upper body, and the degree of suspension weight reduction is adjusted by the length adjustment component 14. Subsequently, the lumbar contact support component 19 of the detachable lower limb exoskeleton 8 is connected to the follower connection seat 5 through the lumbar connection structure 16. After the connection is completed, the opening and closing support ring 17 is closed, so that the annular lumbar support mechanism 6 forms support around the user's waist. At this time, the user's feet are standing on the omnidirectional walking mechanism 9, and the hands can hold the follower balance handrail mechanism 7.

[0051] During the platform-based training process, the control device 10 controls the virtual reality display device 2 to present a virtual training scene according to the training parameters, and controls the omnidirectional walking mechanism 9 and the detachable lower limb exoskeleton 8 to cooperate with the user to complete the training. The user completes training in straight walking, turning, lateral movement, diagonal walking, arc walking, obstacle avoidance, uphill and downhill simulation, or center of gravity transfer according to the training scene presented by the virtual reality display device 2.

[0052] When the user performs turning or changing direction training, the top rotating mechanism 3 rotates synchronously with the sling assembly 4, reducing the interference of the sling assembly 4 on the user's turning; the follower connecting seat 5 moves circumferentially along the annular waist support mechanism 6, so that the waist connection position of the separable lower limb exoskeleton 8 changes with the direction of the human body; the follower-type balance handrail mechanism 7 provides continuous support for the user's hands; and the omnidirectional walking mechanism 9 provides multi-directional walking support for the user's feet. Through the synergistic effect of the above components, the user can complete lower limb rehabilitation training under the combined action of suspension weight reduction, waist support, hand support, omnidirectional foot support, and virtual reality visual guidance.

[0053] In the affected-side reinforcement training, the control device 10 sets up virtual paths, arc paths, obstacle avoidance tasks, target point tasks, or weight transfer tasks in the corresponding direction based on the affected-side information or target lower limb information in the user's training file. For example, it can set up turning paths towards the affected side, arc paths bending towards the affected side, lateral offset paths towards the affected side, target points located in the direction of the affected side, or obstacle avoidance tasks, so that the user increases the support, swing, turning, or weight-bearing participation of the target lower limb when completing the virtual training tasks. This training method does not achieve this by directly restricting the healthy lower limb, but rather guides the user to actively increase the participation of the target lower limb through the direction of the virtual path and the arrangement of tasks.

[0054] The affected side reinforcement training can be task-matched according to different rehabilitation goals. When the rehabilitation goal is to improve the supporting stability of the affected lower limb, the virtual training scenario generates a turning path or obstacle avoidance task that requires the affected side to undertake support and center of gravity transfer; when the rehabilitation goal is to improve the swing ability of the affected lower limb, the virtual training scenario generates a task that requires the affected side to complete active stepping, lateral movement or obstacle crossing; when the rehabilitation goal is to improve gait symmetry, the virtual training scenario generates alternating stepping, arc turning and direction switching tasks; when the rehabilitation goal is to improve daily walking adaptability, the virtual training scenario generates indoor passage, road turning, obstacle detour or uphill and downhill tasks.

[0055] During training, rehabilitation trainers can adjust training parameters based on the user's performance. When the user can stably complete the current virtual path task, the path length, turning radius, path curvature, number of obstacles, obstacle spacing, or task duration can be increased. When the user experiences significant discomfort, unstable movements, or insufficient support, the difficulty of the virtual path can be reduced, the number of obstacles reduced, the task duration shortened, hand support dependence increased, or the suspension weight reduction support of the sling component 4 improved.

[0056] After the training is completed, the control device 10 records the virtual training scene, virtual path type, visual deflection angle, path curvature, lateral offset, training parameters, training duration, training stage, target lower limb, enhanced content on the affected side, training completion status, training evaluation results, and training performance recorded by the rehabilitation trainer. The recorded results are written into the user's training file as a reference for setting subsequent training parameters.

[0057] If the user needs to perform training outside the platform, the waist connection structure 16 between the separable lower limb exoskeleton 8 and the follower connector 5 can be disassembled after the platform-based combined training, allowing the separable lower limb exoskeleton 8 to be detached from the omnidirectional rehabilitation platform. After detachment, the user still wears the separable lower limb exoskeleton 8 and leaves the omnidirectional rehabilitation platform for independent training. This method enables a seamless transition between in-platform safety protection training and independent training outside the platform, improving training continuity and flexibility.

[0058] In one specific application scenario, when a user first enters the system, there is no historical verification data for that user. After the rehabilitation trainer inputs the user's information on the control terminal, the control device 10 prompts the user to enter the baseline verification module. The user wears the virtual reality display device 2 and observes or completes virtual path tasks with different directions and degrees of curvature under the suspension protection, lumbar support, and hand support of the omnidirectional rehabilitation platform. The control device 10 obtains individual perceptual baseline data based on the user's feedback on path changes, and then enters the training sensitivity calibration module to determine the range of training parameter changes that the user can accept. After completing the above process, the control device 10 saves the user's baseline verification results and training sensitivity calibration results.

[0059] In another specific application scenario, when the user re-enters the system, the control device 10 automatically retrieves historical benchmark verification results and training sensitivity calibration results after reading the user's identity information. Rehabilitation trainers can directly access the rehabilitation training module and select a virtual training scenario based on the current training objective. If the training objective is to restore basic walking ability, a straight path or a low-difficulty turning path is selected; if the training objective is to improve turning ability, an arc path or a continuous turning path is selected; if the training objective is to improve daily walking adaptability, obstacle avoidance, uphill / downhill, or indoor / outdoor road scenarios are selected; if the training objective is to strengthen the affected side, a path or task that increases the involvement of the target lower limb is selected.

[0060] Through the aforementioned structure and training method, this invention integrates a detachable lower limb exoskeleton 8, an omnidirectional walking mechanism 9, a virtual reality display device 2, a sling assembly 4, a ring-shaped waist support mechanism 6, a follow-up connecting seat 5, and a follow-up balance handrail mechanism 7 into a single unit. Users can perform multi-directional gait training, turning training, center of gravity transfer training, and virtual scene interactive training within the platform. Simultaneously, the detachable lower limb exoskeleton 8 can be quickly connected to or detached from the follow-up connecting seat 5, allowing users to switch between platform-based combined training and independent training outside the platform. This omnidirectional rehabilitation platform and training method improve the safety, immersion, continuity, and adaptability of rehabilitation training.

[0061] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An omnidirectional rehabilitation platform with a detachable lower limb exoskeleton, characterized in that, Includes a main support frame (1), a virtual reality display device (2), a top rotation mechanism (3), a sling assembly (4), a follower connection seat (5), a ring waist support mechanism (6), a follower balance handrail mechanism (7), a separable lower limb exoskeleton (8), an omnidirectional walking mechanism (9), and a control device (10). The main support frame (1) forms the training space; The top rotating mechanism (3) is installed on the top support of the main support frame (1), and the sling assembly (4) is suspended and connected to the top rotating mechanism (3). The omnidirectional walking mechanism (9) is installed on the bottom support of the main support frame (1) and is located below the sling assembly (4); The annular waist support mechanism (6) is located above the omnidirectional walking mechanism (9) and in the middle of the main support frame (1); The follower connector (5) is installed on the annular waist support mechanism (6), and the follower connector (5) and the annular waist support mechanism (6) form a circumferential movable fit; The waist contact support (19) of the separable lower limb exoskeleton (8) is detachably connected to the follower connecting seat (5) through the waist connection structure (16); The follow-up balance handrail mechanism (7) is installed on the inner side of the annular waist support mechanism (6); The virtual reality display device (2) is a head-mounted display structure and is communicatively connected to the control device (10); The control device (10) is electrically or communicatively connected to the virtual reality display device (2), the detachable lower limb exoskeleton (8), and the omnidirectional walking mechanism (9), respectively.

2. The omnidirectional rehabilitation platform with a detachable lower limb exoskeleton according to claim 1, characterized in that, The top rotating mechanism (3) includes a fixed seat (11) and a rotating connector (12). The fixed seat (11) is installed on the top support of the main support frame (1). The rotating connector (12) is connected to the fixed seat (11). The upper end of the sling assembly (4) is connected to the rotating connector (12). The rotating connector (12) and the sling assembly (4) together form a suspension structure that can rotate around the vertical axis.

3. The omnidirectional rehabilitation platform with a detachable lower limb exoskeleton according to claim 1, characterized in that, The sling assembly (4) includes a suspension connecting belt (13), a length adjusting member (14), and a torso support belt (15). The upper end of the suspension connecting belt (13) is connected to the top rotating mechanism (3), and the lower end of the suspension connecting belt (13) is connected to the torso support belt (15). The length adjusting member (14) is disposed on the suspension connecting belt (13) or the torso support belt (15).

4. The omnidirectional rehabilitation platform with a detachable lower limb exoskeleton according to claim 1, characterized in that, The annular waist support mechanism (6) includes an opening and closing support ring segment (17), an annular support main ring segment (18), and an opening and closing hinge (22). The opening and closing connector (22) is located at the break between the opening and closing support ring segment (17) and the annular support main ring segment (18). The follower connector (5) is installed on the inner side of the annular support main ring segment (18).

5. The omnidirectional rehabilitation platform with a detachable lower limb exoskeleton according to claim 4, characterized in that, The follower connector (5) forms a plug-in, snap-fit, latch-lock connection or pin connection with the waist contact support (19) of the separable lower limb exoskeleton (8) through the waist connection structure (16).

6. The omnidirectional rehabilitation platform with a detachable lower limb exoskeleton according to claim 1, characterized in that, The follow-up balance handrail mechanism (7) includes a handrail body (21) and a fixed handle (20). The handrail body (21) and the fixed handle (20) are fixed to the inner side of the annular waist support mechanism (6). The fixed handle (20) is located on both sides of the handrail body (21).

7. The omnidirectional rehabilitation platform with a detachable lower limb exoskeleton according to claim 1, characterized in that, The omnidirectional rolling component (23) in the middle of the omnidirectional walking mechanism (9) consists of multiple Mecanum wheels or omnidirectional wheels arranged in an array.

8. A training method applied to an omnidirectional rehabilitation platform with a separable lower limb exoskeleton as described in any one of claims 1 to 7, characterized in that, Includes the following steps: S1. Establish user training files and enter user identity information, affected side information, training stage information and rehabilitation training goals; S2. Read the historical training data in the user's training file. The historical training data includes historical benchmark verification data, historical training sensitivity data, historical training scenario data, historical affected side reinforcement training data, and historical training result data. S3. Determine whether the user needs to perform benchmark verification or training sensitivity calibration based on the historical training data. S4. When benchmark verification is required, a benchmark virtual path is presented through a virtual reality display device (2). The benchmark virtual path includes a straight path, a left-turn path, a right-turn path, an arc path, and a lateral offset path. The user's direction perception results, steering adaptation results, and path comfort feedback of the benchmark virtual path are collected to form individual perception benchmark data. S5. When it is necessary to calibrate the training sensitivity, based on the individual perception baseline data, change the visual deflection angle, path curvature, lateral offset, target point position or obstacle position of the virtual path, collect the user's adaptation results to the path changes, and form training sensitivity data. S6. Based on the user's training profile, historical training data, individual perception baseline data, training sensitivity data, and rehabilitation training goals, generate the training parameters for this session. The training parameters for this session include virtual path type, visual deflection angle, path curvature, lateral offset, target point position, obstacle position, training duration, and training difficulty level. S7. The user wears a virtual reality display device (2) and a separable lower limb exoskeleton (8), connects the sling assembly (4) to the user's torso, connects the separable lower limb exoskeleton (8) to the follower connection seat (5), so that the user is located in the ring waist support mechanism (6) and stands on the omnidirectional walking mechanism (9); S8. The control device (10) controls the virtual reality display device (2) to present the virtual training scene according to the training parameters, and controls the omnidirectional walking mechanism (9) and the separable lower limb exoskeleton (8) to cooperate with the user to complete the platform combination training. S9. Record the virtual path type, visual deflection angle, path curvature, lateral offset, training duration, affected side reinforcement content, completion status, and training evaluation results for this training, and write the recorded results into the user's training file.

9. The training method according to claim 8, characterized in that, Step S8 includes the affected side strengthening training step and the exoskeleton removal training step; The affected side reinforcement training steps include: based on the affected side information in step S1, setting a turning path towards the affected side, an arc-shaped path bending towards the affected side, a lateral offset path towards the affected side, a target point or obstacle avoidance task located in the direction of the affected side in the virtual training scene, so that the user can perform support, swing, turning or center of gravity transfer actions corresponding to the affected side when completing the virtual training task. The exoskeleton disassembly training steps include: after the platform combination training is completed, disconnecting the connection between the separable lower limb exoskeleton (8) and the follower connector (5) so that the user can wear the separable lower limb exoskeleton (8) to leave the omnidirectional rehabilitation platform and conduct independent training.

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